Touch detection circuit, master manipulator, and surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses a touch detection circuit, a main manipulator and a surgical robot. The touch detection circuit comprises a touch element used for generating a contact signal based on contact; the trigger circuit is connected with the touch element and is used for generating a trigger signal based on the contact signal; and a controller connected with the trigger circuit and configured to detect the frequency of the trigger signal output by the trigger circuit and determine whether the contact signal corresponds to a user touch based on the detected frequency. Based on the touch detection circuit provided by the invention, the situation that the surgical robot makes a wrong response to contact of sweat and water drops, and consequently surgical operation is affected can be avoided.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a touch detection circuit, a master manipulator, and a surgical robot. Background Technology

[0002] Laparoscopic surgery is a surgical procedure that has gradually developed and been widely used in recent years. It has advantages such as smaller incisions, which greatly reduces patients' recovery time, discomfort, and postoperative side effects. Performing laparoscopic surgery using surgical robots, especially single-port laparoscopic surgery, allows for optimization of the surgical procedure through remote computer control technology.

[0003] During surgery, users can control surgical tools by operating devices such as the main controller to perform surgical procedures. However, the surgical robot may respond to sweat, water droplets, or other substances adhering to the main controller, potentially causing the surgical tools to perform erroneous operations. Utility Model Content

[0004] In some embodiments, this disclosure provides a touch detection circuit, including:

[0005] Touch element, used to generate a contact signal based on contact;

[0006] A trigger circuit, connected to a touch element, is used to generate a trigger signal based on a contact signal; and

[0007] The controller, connected to the trigger circuit, is configured to detect the frequency of the trigger signal output by the trigger circuit and determine whether the contact signal corresponds to a user touch based on the detected frequency.

[0008] In some embodiments, the trigger circuit further includes:

[0009] Access circuit, the access circuit is connected to the touch element; and

[0010] The logic device has its first input terminal connected to the access circuit and its output terminal connected to the controller to output a trigger signal to the controller.

[0011] In some embodiments, the touch detection circuit further includes a power supply, and the trigger circuit further includes a first resistor and a second resistor, wherein the first resistor and the second resistor are connected in series with the power supply, and the second input terminal of the logic device is connected between the first resistor and the second resistor.

[0012] In some embodiments, the trigger circuit further includes:

[0013] The third resistor has its first end connected between the first and second resistors, and its second end connected to the output of the logic device.

[0014] In some embodiments, the first end of the first resistor is connected to the second input terminal of the logic device, and the second end of the first resistor is connected to the positive terminal of the power supply.

[0015] The first end of the second resistor is grounded, and the second end of the second resistor is connected to the first end of the first resistor.

[0016] In some embodiments, the trigger circuit further includes:

[0017] A first capacitor, wherein a first terminal of the first capacitor is connected to a first input terminal of a logic device, and a second terminal of the first capacitor is connected to an access circuit; and

[0018] The fourth resistor is connected between the first terminal of the first capacitor and the output terminal of the logic device.

[0019] In some embodiments, the trigger circuit further includes:

[0020] The fifth resistor is connected between the positive terminal of the power supply and the output terminal of the logic device.

[0021] In some embodiments, the trigger circuit further includes:

[0022] The sixth resistor is connected between the second terminal of the first capacitor and the circuit.

[0023] In some embodiments, the sixth resistor includes a variable resistor.

[0024] In some embodiments, the access circuit includes a first access line and a second access line, the first access line being connected to a contact element, and the second access line being connected to an external shielding wire.

[0025] The second end of the sixth resistor is connected to the first access line.

[0026] In some embodiments, the logic device includes a comparator or an operational amplifier.

[0027] In some embodiments, the controller is also configured to detect the initial frequency of the trigger signal output by the trigger circuit in response to power-on of the touch detection circuit.

[0028] In some embodiments, the controller is further configured to cyclically detect the current frequency of the trigger signal output by the trigger circuit and determine that the contact signal corresponds to a user touch in response to the difference between the current frequency and the initial frequency exceeding a threshold.

[0029] In some embodiments, the controller is also configured to detect the current frequency of the trigger signal output by the trigger circuit at a preset period.

[0030] In some embodiments, this disclosure also provides a master operator, including:

[0031] handle;

[0032] The moving arm has a handle positioned at its proximal end; and

[0033] As in any of the embodiments, the touch detection circuit has a touch element disposed on the handle, and the trigger circuit and controller of the touch detection circuit are disposed on the handle or the motion arm.

[0034] In some embodiments, the handle includes:

[0035] Handle body; and

[0036] The first clamp and the second clamp are rotatably connected to the handle body and cooperate with each other to open and close. The touch element includes a first touch element and a second touch element respectively disposed on the first clamp and the second clamp. The trigger circuit is connected to the first touch element and / or the second touch element.

[0037] In some embodiments, this disclosure also provides a surgical robot, including:

[0038] The main control unit includes:

[0039] The main control unit vehicle body; and

[0040] At least one master operator, as described in any of the embodiments of this disclosure, is disposed on the main control carriage body; the at least one master operator is used to receive user operations; and

[0041] The operating table is communicatively connected to the main control table and includes at least one robotic arm and at least one surgical instrument located at the distal end of the at least one robotic arm.

[0042] Some embodiments of this disclosure have one or more of the following technical effects: they can determine whether a user touches the clamp of the main manipulator, thereby responding to the user's touch to control the surgical tools to perform surgical operations; they can detect when the user's hand leaves the handle of the surgical robot, thereby preventing the surgical robot from responding to sweat, water droplets, etc. adhering to the main manipulator; they help improve the safety of the surgical robot; and they can flexibly adjust the sensitivity of the touch detection circuit. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0044] Figure 1 A schematic diagram of a touch detection circuit according to some embodiments of the present disclosure is shown;

[0045] Figure 2 A schematic diagram of the structure of a master operator according to some embodiments of the present disclosure is shown;

[0046] Figure 3 A top view of the handle of a master operator according to some embodiments of the present disclosure is shown;

[0047] Figure 4 A perspective view of the handle of a master operator according to some embodiments of the present disclosure is shown;

[0048] Figure 5 A schematic diagram of a surgical robot according to some embodiments of the present disclosure is shown.

[0049] List of reference numerals in the attached diagram:

[0050] 10. Touch detection circuit; 11. Touch element; 12. Trigger circuit; 121. Access circuit; 1211. First access line; 1212. Second access line; 13. Controller; L. Logic device; R1. First resistor; R2. Second resistor; R3. Third resistor; R4. Fourth resistor; R5. Fifth resistor; R6. Sixth resistor; C1. First capacitor;

[0051] 100. Main actuator; 110. Right main actuator; 111. Handle; 1111. First clamp; 1112. Second clamp; 1113. Handle body; 1114. First finger sleeve; 1115. Second finger sleeve; 1116. Clutch switch; 112. Moving arm; 120. Left main actuator;

[0052] 1000. Surgical robot; 1010. Main control unit; 1011. Main control unit body; 1020. Surgical unit; 1021. Robotic arm; 1022. Surgical instruments. Detailed Implementation

[0053] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0054] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0056] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear end, and the end opposite to the proximal end, proximal or rear end, or rear end is defined as the distal end, distal or front end, or front end. Alternatively, the end closer to the person being operated on (e.g., a surgical patient) is defined as the distal end, distal or front end, or front end, and the end opposite to the distal end, distal or front end, or front end is defined as the proximal end, proximal or rear end, or rear end. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0057] Some embodiments of this disclosure provide a touch detection circuit. Figure 1 A schematic diagram of a touch detection circuit 10 according to some embodiments of the present disclosure is shown. The touch detection circuit 10 can be applied to a handle, such as the handle of a surgical robot. The surgical robot can be any suitable surgical robot, including laparoscopic surgical robots. The handle of the surgical robot can be used to receive user input. During surgery, the user can issue control commands by operating the handle to control the surgical tools mounted on the surgical robot to perform surgical operations.

[0058] like Figure 1As shown, the touch detection circuit 10 may include a touch element 11, a trigger circuit 12, and a controller 13. The touch element 11 can be used to generate a contact signal S1 based on contact. In some embodiments, the touch element 11 may be disposed on the clamp of a surgical robot so that the user can contact the touch element 11 when operating the clamp. Those skilled in the art will understand that, in addition to user contact, the touch element 11 may also generate a contact signal S1 based on contact with sweat, dirt, water droplets, etc. In some embodiments, the touch element 11 may include a metal sheet or a flexible circuit board, and the outer surface of the touch element 11 may be covered with an insulating film to improve safety.

[0059] like Figure 1 As shown, trigger circuit 12 can be connected to touch element 11, and trigger circuit 12 can be used to generate trigger signal S2 based on touch signal S1. In some embodiments, trigger circuit 12 may include access circuit 121, which can be connected to touch element 11 to receive touch signal S1 from touch element 11. In some embodiments, access circuit 121 may include wires, with both ends of the wires connected to touch element 11 and the remainder of trigger circuit 12, respectively. In some embodiments, trigger circuit 12 may also include logic device L, which can be used to generate trigger signal S2. In some embodiments, a first input terminal of logic device L (e.g., the inverting input terminal indicated by "-") can be connected to access circuit 121 to receive touch signal S1 from touch element 11. Those skilled in the art will understand that the non-inverting input terminal "+" and the inverting input terminal "-" marked for logic device L in the drawings are merely exemplary and should not be construed as limiting the technical solution. Figure 1 As shown, controller 13 can be connected to trigger circuit 12. In some embodiments, the output terminal of logic device L of trigger circuit 12 can be connected to controller 13 to output trigger signal S2 to controller 13. Controller 13 can be configured to detect the frequency of trigger signal S2 output by trigger circuit 12. In some embodiments, controller 13 may include a frequency detection circuit (not shown), which can be configured to detect the frequency of trigger signal S2. In some embodiments, trigger signal S2 output by logic device L can be an oscillation signal, such as an oscillating square wave signal, etc., and controller 13 can detect the frequency of trigger signal S2.

[0060] The controller 13 can also be configured to determine whether the contact signal S1 corresponds to a user touch based on the detected frequency. The controller 13 may also include a resolution circuit (not shown) configured to receive a frequency from the frequency detection circuit and determine whether the contact signal S1 corresponds to a user touch based on that frequency. Those skilled in the art will understand that determining whether the contact signal S1 corresponds to a user touch allows for the determination of whether a user has contacted the touch element.

[0061] Those skilled in the art will understand that the touch element 11 can be equivalent to a capacitor connected to the trigger circuit 12. When the touch element 11 is touched (e.g., by a user's skin, sweat, dirt, etc.), the capacitance value of the touch element 11 changes, and the frequency of the trigger signal S2 output by the trigger circuit 12 changes accordingly. The controller 13 can then determine whether the touch signal S1 corresponds to a user touch based on the detected frequency.

[0062] In some embodiments, the controller 13 can be configured to determine that the contact signal S1 corresponds to a user touch in response to the current frequency being lower than a preset value. Those skilled in the art will understand that the capacitance of the human body is significantly greater than that of sweat, stains, and other substances. When the touch element 11 receives a user touch, the frequency of the trigger signal S2 generated by the trigger circuit 12 will decrease significantly. Based on this, it can be determined that the touch element 11 has received a user touch when the current frequency is lower than the preset value.

[0063] In some embodiments, the controller 13 may also be configured to detect the initial frequency f0 of the trigger signal S2 output by the trigger circuit 12 in response to the power-on of the touch detection circuit 10. In some embodiments, the frequency detection circuit of the controller 13 may be configured to detect the initial frequency f0 of the trigger signal S2 output by the trigger circuit 12. In some embodiments, the controller 13 may detect the frequency of the trigger signal S2 received within a preset time to obtain the initial frequency f0 in response to the power-on of the touch detection circuit 10.

[0064] In some embodiments, the controller 13 may also be configured to cyclically detect the current frequency fn of the trigger signal S2 output by the trigger circuit 12. For example, the frequency detection circuit of the controller 13 may detect the current frequency fn of the trigger signal S2 output by the trigger circuit 12 at a preset period. The controller 13 may also be configured to determine that the contact signal S1 corresponds to a user touch in response to the difference df between the current frequency fn and the initial frequency f0 exceeding a threshold. In some embodiments, the controller 13 may further include a data processing circuit (not shown), which may be configured to determine the difference df between the current frequency fn and the initial frequency f0. The parsing circuit of the controller 13 may be configured to receive the frequency difference df from the data processing circuit and determine that the contact signal S1 corresponds to a user touch in response to the frequency difference df exceeding a threshold.

[0065] Those skilled in the art will understand that, under different environments, the contact of a user's skin, sweat, dirt, etc., can significantly affect the capacitance value of the touch element 11, and may also significantly affect the frequency of the trigger signal S2 output by the trigger circuit 12. Therefore, it is difficult to determine whether the touch element 11 has received a user touch simply by determining whether the frequency of the trigger signal S2 is lower than a preset value. However, based on this embodiment, the determination of whether the touch element 11 has received a user touch can be made by determining whether the frequency difference df between the current frequency fn and the initial frequency f0 exceeds a threshold value. This avoids the influence of the environment and improves the accuracy of the detection results.

[0066] In some embodiments, the logic device may include a comparator or an operational amplifier, or other suitable logic device. Those skilled in the art will understand that in the trigger circuit 12, the comparator or operational amplifier can be used to output an oscillating trigger signal S2, which the controller 13 can then detect the frequency of the trigger signal S2.

[0067] In some embodiments, the touch detection circuit 10 may further include a power supply. For example... Figure 1 As shown, the touch detection circuit 10 can be powered through the port indicated by "VCC". The trigger circuit 12 may further include a first resistor R1 and a second resistor R2. The first resistor R1, the second resistor R2, and the power supply can be connected in series. The second input terminal of the logic device L (e.g., the non-inverting input terminal indicated by "+") can be connected between the first resistor R1 and the second resistor R2. In some embodiments, the first end of the first resistor R1 can be connected to the second input terminal of the logic device L, and the second end of the first resistor R1 can be connected to the positive terminal of the power supply. The first end of the second resistor R2 can be grounded, and the second end of the second resistor R2 can be connected to the first end of the first resistor R1.

[0068] In some embodiments, such as Figure 1As shown, the trigger circuit 12 may also include a third resistor R3. The first end of the third resistor R3 may be connected between the first resistor R1 and the second resistor R2, and the second end of the third resistor R3 may be connected to the output terminal of the logic device L.

[0069] In some embodiments, the trigger circuit 12 may further include a first capacitor C1, the first end of which may be connected to the first input terminal of the logic device L, and the second end of which may be connected to the access circuit 121. In some embodiments, the trigger circuit 12 may further include a fourth resistor R4, which may be connected between the first end of the first capacitor C1 and the output terminal of the logic device L.

[0070] In some embodiments, the trigger circuit 12 may further include a fifth resistor R5. The fifth resistor R5 may be connected between the positive terminal of the power supply and the output terminal of the logic device L. Those skilled in the art will understand that setting the fifth resistor R5 can be used to pull up the voltage of the output terminal of the logic device L, so that the output terminal of the logic device L can output a high-level signal.

[0071] Those skilled in the art will understand that when the touch detection circuit 10 is powered on, the fifth resistor R5 pulls the voltage Vo at the output of the logic device L to a high level. Since the voltage V+ at the non-inverting input of the logic device L (e.g., a comparator) is higher than the voltage V- at the inverting input, the voltage Vo at the output of the logic device L can thus be maintained at a high level for a certain period. During this period, current can flow from the output of the logic device L through the fourth resistor R4 to the first capacitor C1 to charge it, and the voltage at the connection between the fourth resistor R4 and the first capacitor C1 increases accordingly. When the voltage at this connection rises above the voltage V+ at the non-inverting input of the logic device L, the voltage Vo at the output of the logic device L decreases to a low level and can be maintained at a low level for a certain period. During this period, the first capacitor C1 can discharge, and the voltage at the connection between the fourth resistor R4 and the first capacitor C1 decreases accordingly. When the voltage at this connection decreases below V+, the voltage Vo at the output of the logic device L rises to a high level and can be maintained at a high level for a certain period. Based on the above process, the trigger signal S2 output by logic device L can oscillate.

[0072] Those skilled in the art will understand that the circuit structure that enables the logic device L to output an oscillating signal is not limited to the structure described above, but can be any other suitable structure.

[0073] In some embodiments, the trigger circuit 12 may further include a sixth resistor R6, which may be connected between the second terminal of the first capacitor C1 and the access circuit 121. In some embodiments, the sixth resistor R6 may include a variable resistor. Those skilled in the art will understand that the larger the resistance value of the sixth resistor R6 connected in series with the first capacitor C1, the longer the time required to charge or discharge the first capacitor C1, the smaller the influence of the equivalent capacitance value introduced into the trigger circuit 12 by the touch element 11 on the frequency of the trigger signal S2, and the less sensitive the touch detection circuit 10 is to the user's touch. Therefore, the user can adjust the resistance value of the sixth resistor R6 to adjust the sensitivity of the touch detection circuit 10.

[0074] In some embodiments, such as Figure 1 As shown, the access circuit 121 may include a first access line 1211 and a second access line 1212. The first access line 1211 may be connected to the contact element 11, and the second access line 1212 may be connected to an external shielding wire. The second end of the sixth resistor R6 may be connected to the first access line 1211. Based on this, an equivalent capacitance capable of connecting to the trigger circuit 12 can be formed between the first access line 1211 and the second access line 1212.

[0075] Those skilled in the art will understand that the various parts included in the controller 13 of this disclosure, such as the frequency detection circuit, the parsing circuit, the data processing circuit, etc., can be implemented using general-purpose hardware, or they can be implemented using dedicated hardware including application-specific integrated circuits, dedicated CPUs, dedicated memory, dedicated components, etc. The specific hardware structure used to implement the functions of the frequency detection circuit, the parsing circuit, the data processing circuit, etc., can be implemented using various circuit technologies, such as analog circuits, digital circuits, configurable circuits, or dedicated circuits.

[0076] Some embodiments of this disclosure also provide a master operator. Figure 2 A schematic diagram of a master manipulator 100 according to some embodiments of the present disclosure is shown. The master manipulator 100 can be applied to a surgical robot, such as any suitable surgical robot including a laparoscopic surgical robot. The master manipulator 100 can be used to receive user operations, and the user can issue control commands by operating the master manipulator 100 to control the surgical tools mounted on the surgical robot to perform surgical operations. In some embodiments, such as Figure 2 As shown, the main operator 100 may include a right main operator 110 and a left main operator 120. Those skilled in the art will understand that the right main operator 110 can be used to receive operations from the user's right hand, and the left main operator 120 can be used to receive operations from the user's left hand.

[0077] The following description uses the right master operator 110 as an example to illustrate the technical details of the master operator. Those skilled in the art will understand that the technical details of the left master operator 120 are similar to those of the right master operator 110, and will not be repeated here to avoid repetition. In some embodiments, such as Figure 2 As shown, the main operator 110 may include a handle 111, a motion arm 112, and a touch detection circuit.

[0078] Figure 3 A top view of the handle 111 of the master operator 100 according to some embodiments of the present disclosure is shown. Figure 3 As shown, in some embodiments, the handle 111 may include a first clamp 1111, a second clamp 1112, and a handle body 1113. The first clamp 1111 and the second clamp 1112 may be rotatably connected to the handle body 1113, for example, by hinge to the handle body 1113 via a pin or by pivot to the handle body 1113. The first clamp 1111 and the second clamp 1112 can cooperate to open and close, allowing the user to perform clamping operations on the first clamp 1111 and the second clamp 1112.

[0079] In some embodiments, the handle 111 may further include a first finger sleeve 1114 disposed at the distal end of the first clamp 1111 and a second finger sleeve 1115 disposed at the distal end of the second clamp 1112, to facilitate the user's clamping operation on the handle 111. In some embodiments, the handle 111 may further include a clutch switch 1116 disposed on the handle body 1113. The clutch switch 1116 is slidably disposed on the handle body 1113. When the clutch switch 1116 slides to the proximal or distal end, the clutch switch 1116 can switch between a triggered state and a non-triggered state. Based on this, the user can trigger or deactivate the teleoperation of the surgical robot by operating the clutch switch 1116.

[0080] In some embodiments, the motion arm 112 may be a multi-degree-of-freedom motion arm including multiple movable joints and links. The multi-degree-of-freedom motion arm 112 can be used to adjust the position and orientation of the handle 111. The handle 111 may be disposed at the proximal end of the motion arm 112, for example, by fastener connection or by a suitable method such as welding. In some embodiments, the handle 111 may be rotatably disposed at the proximal end of the motion arm 112.

[0081] The touch detection circuit can be any of the touch detection circuits in some embodiments of this disclosure, such as touch detection circuit 10. Figure 4 A perspective view of the handle 111 of the master operator 100 according to some embodiments of the present disclosure is shown. Figure 4As shown, the touch element 11 of the touch detection circuit 10 can be disposed on the handle 111 so that the user can contact the touch element 11 when operating the handle 111, thereby facilitating the detection of user contact. In some embodiments, the touch element 11 can be sheet-like and can be disposed on the handle 111 by means of adhesive or other methods. In some embodiments, the touch element 11 can be disposed on the inner circumferential surface of the first finger sleeve 1114 or the second finger sleeve 1115, for example, disposed on the inner circumferential surface near the handle body 1113, so that the user can contact the touch element 11 when operating the handle 111. In some embodiments, the touch element 11 may include a first touch element and a second touch element respectively disposed on the first clamp 1111 and the second clamp 1112. The first touch element and the second touch element can be disposed on the inner circumferential surface of the first finger sleeve 1114 and the second finger sleeve 1115, respectively. For example, the second touch element can be disposed as follows: Figure 4 The location of the touch element 11 shown can be determined by placing the first touch element at a corresponding position on the first finger sleeve 1114. Those skilled in the art will understand that this disclosure does not limit the positions of the first and second touch elements; the first and second touch elements can be placed at any suitable position.

[0082] The trigger circuit 12 and controller 13 of the touch detection circuit 10 can be disposed on the handle 111 or the motion arm 112. For example, the trigger circuit 12 and controller 13 can be disposed within the handle body 1113 or within the housing of the motion arm 112. In some embodiments, the access circuit of the trigger circuit 12 can extend to the touch element 11 for connection with the touch element 11.

[0083] In some embodiments, the trigger circuit 12 (e.g., access circuit 121) may be connected to a first touch element or a second touch element. In other embodiments, the trigger circuit 12 (e.g., access circuit 121) may be connected to both the first and second touch elements. For example, the access circuit 121 may include a composite cable, which may include a first end, a second end, and a third end respectively connected to the first and second ends. The first and second ends of the composite cable may be used to connect to the first and second touch elements, respectively, and the third end of the composite cable may be connected to other parts of the trigger circuit 12 (e.g., logic devices). Those skilled in the art will understand that the touch detection circuit can detect a user touch when the first or second touch element receives a user touch.

[0084] A surgical robot is also provided in some embodiments of this disclosure. Figure 5 A schematic diagram of a surgical robot 1000 according to some embodiments of the present disclosure is shown. Figure 5As shown, in some embodiments, the surgical robot 1000 may include a main control carriage 1010 and a surgical carriage 1020. The main control carriage 1010 may include a main control carriage body 1011 and at least one main manipulator. The at least one main manipulator may be the main manipulator of any of the embodiments of this disclosure (e.g., main manipulator 100), and will not be described again for the sake of avoiding repetition.

[0085] A master operator 100 may be mounted on the main control carriage body 1011. At least one master operator 100 may be used to receive user operations. The distal end of at least one master operator 100 may be connected to the main control carriage body 1011. During surgery, the main control carriage 1010 may be located on the user side to facilitate user operation of the main control carriage 1010 (e.g., the master operator 100).

[0086] The operating table 1020 may include at least one robotic arm 1021 and at least one surgical instrument 1022 disposed at the distal end of the at least one robotic arm 1021. The at least one surgical instrument 1022 may include imaging tools (e.g., an endoscope) and surgical tools (e.g., curved scissors, clamps, ultrasonic scalpels, electrocautery hooks, etc.). The operating table 1020 may be located on the patient side to facilitate surgical procedures on the patient. The operating table 1020 may be communicatively connected to a master control table 1010, for example, via wired or wireless transmission. During surgery, the user can issue control commands by operating the master control table 1010 (e.g., master manipulator 100) to adjust the position of the surgical instrument 1022 or to cause the surgical instruments to perform surgical procedures.

[0087] Those skilled in the art will understand that when a user's hand leaves the handle of the surgical robot, sweat, dirt, etc., may still remain on the handle. In this case, the surgical robot may have difficulty detecting that the user has left the handle, posing a risk of misoperation. However, based on some embodiments of this disclosure, it is possible to determine whether the user has touched the surgical robot handle. The ability to detect when the user's hand leaves the handle can prevent misoperation caused by sweat, dirt, etc., thus contributing to improved safety of the surgical robot.

[0088] Those skilled in the art will understand that the surgical robot 1000 provided in this disclosure can be any suitable surgical robot, including laparoscopic surgical robots.

[0089] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A touch detection circuit, characterized in that, include: A touch element, the touch element being used to generate a touch signal based on contact; A trigger circuit, connected to the touch element, is used to generate a trigger signal based on a contact signal; as well as A controller, connected to the trigger circuit, is configured to detect the frequency of a trigger signal output by the trigger circuit and determine whether the contact signal corresponds to a user touch based on the detected frequency.

2. The touch detection circuit according to claim 1, characterized in that, The trigger circuit further includes: Access circuit, the access circuit being connected to the touch element; and A logic device, wherein the first input terminal of the logic device is connected to the access circuit, and the output terminal of the logic device is connected to the controller for outputting the trigger signal to the controller.

3. The touch detection circuit according to claim 2, characterized in that, The touch detection circuit also includes a power supply, and the trigger circuit also includes a first resistor and a second resistor. The first resistor, the second resistor, and the power supply are connected in series. The second input terminal of the logic device is connected between the first resistor and the second resistor.

4. The touch detection circuit according to claim 3, characterized in that, The trigger circuit further includes: A third resistor, the first end of which is connected between the first resistor and the second resistor, and the second end of which is connected to the output terminal of the logic device.

5. The touch detection circuit according to claim 3, characterized in that, The first end of the first resistor is connected to the second input terminal of the logic device, and the second end of the first resistor is connected to the positive terminal of the power supply. The first end of the second resistor is grounded, and the second end of the second resistor is connected to the first end of the first resistor.

6. The touch detection circuit according to claim 3, characterized in that, The trigger circuit further includes: A first capacitor, wherein a first terminal of the first capacitor is connected to a first input terminal of the logic device, and a second terminal of the first capacitor is connected to the access circuit; and A fourth resistor is connected between the first terminal of the first capacitor and the output terminal of the logic device.

7. The touch detection circuit according to claim 6, characterized in that, The trigger circuit further includes: The fifth resistor is connected between the positive terminal of the power supply and the output terminal of the logic device.

8. The touch detection circuit according to claim 6, characterized in that, The trigger circuit further includes: A sixth resistor is connected between the second terminal of the first capacitor and the access circuit.

9. The touch detection circuit according to claim 8, characterized in that, The sixth resistor includes a variable resistor.

10. The touch detection circuit according to claim 8, characterized in that, The access circuit includes a first access line and a second access line. The first access line is connected to the touch element, and the second access line is connected to an external shielding wire. The second end of the sixth resistor is connected to the first access line.

11. The touch detection circuit according to claim 2, characterized in that, The logic device includes a comparator or an operational amplifier.

12. The touch detection circuit according to claim 1, characterized in that, The controller is also configured to detect the initial frequency of the trigger signal output by the trigger circuit in response to power-on of the touch detection circuit.

13. The touch detection circuit according to claim 12, characterized in that, The controller is also configured to cyclically detect the current frequency of the trigger signal output by the trigger circuit and determine that the contact signal corresponds to a user touch in response to the difference between the current frequency and the initial frequency exceeding a threshold.

14. The touch detection circuit according to claim 13, characterized in that, The controller is also configured to detect the current frequency of the trigger signal output by the trigger circuit at a preset period.

15. A master operator, characterized in that, include: handle; A motion arm, wherein the handle is disposed at the proximal end of the motion arm; as well as The touch detection circuit according to any one of claims 1 to 14, wherein the touch element of the touch detection circuit is disposed on the handle, and the trigger circuit and controller of the touch detection circuit are disposed on the handle or the moving arm.

16. The master operator according to claim 15, characterized in that, The handle includes: Handle body; and The first clamp and the second clamp are rotatably connected to the handle body and cooperate with each other to open and close. The touch element includes a first touch element and a second touch element respectively disposed on the first clamp and the second clamp. The trigger circuit is connected to the first touch element and / or the second touch element.

17. A surgical robot, characterized in that, include: The main control unit includes: The main control unit vehicle body; and At least one master operator as described in claim 15 or 16 is disposed on the main control carriage body, the at least one master operator being used to receive user operations; and The operating table is communicatively connected to the main control table, and the operating table includes at least one robotic arm and at least one surgical instrument disposed at the distal end of the at least one robotic arm.

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